CN111380461A - Cable winding state detection system - Google Patents
Cable winding state detection system Download PDFInfo
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- CN111380461A CN111380461A CN202010317456.6A CN202010317456A CN111380461A CN 111380461 A CN111380461 A CN 111380461A CN 202010317456 A CN202010317456 A CN 202010317456A CN 111380461 A CN111380461 A CN 111380461A
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- cable
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- fitting
- laser sensor
- winding state
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Filamentary Materials, Packages, And Safety Devices Therefor (AREA)
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Abstract
The invention discloses a cable winding state monitoring system, which comprises a cable reel, a laser sensor, a data measuring unit and a data fitting unit, wherein the cable reel comprises: the cable is wound on a horizontally placed cable reel; the laser sensor is arranged at a certain position so that the cable is in a scanning range and is connected with the computer through an Ethernet port; the laser sensor transmits the two-dimensional data of the scanning points on the surface of the cable to a computer, and the data are filtered and stored through a data measuring unit; and fitting the data by adopting a least square circle fitting algorithm with radius constraint so that the winding state of the cable can be known in real time. The invention can realize real-time, safe and efficient monitoring of the winding state of the cable.
Description
Technical Field
The invention relates to a cable winding monitoring technology, in particular to a cable winding state detection system.
Background
The cable is tightly and tidily wound on the cable reel, which is an important process in the cable production process, the cable is not tidily arranged, and particularly, the wound cable is too short due to too large cable intervals, so that the actual application standard is not met. With the continuous development of the automation level of the production line, the requirement for monitoring whether the cables are arranged neatly and tightly in the winding process is also improved.
At present, the improvement of the cable winding process is mostly concentrated on the control mode of a cable drum, the efficiency of cable winding can be improved by applying a novel cable drum, but the arrangement state of the cable cannot be monitored in real time; also visible is a novel movable cable winding monitoring system, which judges whether the cable winding process is normal or not by sending out detection rays and reforming a state image, but the rays have certain harm to a human body. Thus, existing cable winding lacks a real-time, safe and efficient monitoring method.
Disclosure of Invention
The invention aims to provide a cable winding state monitoring system, which can realize real-time, safe and efficient monitoring of the cable winding state.
The technical scheme for realizing the purpose of the invention is as follows: a cable winding state monitoring system comprises a cable reel, a laser sensor, a data measuring unit and a data fitting unit; wherein:
the cable is wound on the cable reel and horizontally reciprocates between the inner walls of the two sides of the cable reel along with time;
the laser emitting surface of the laser sensor is opposite to the cable drum, irradiates the surface of the cable to generate a scanning point, and transmits two-dimensional data of the scanning point to the data measuring unit;
the data measuring unit is used for outputting parameter signals to the laser sensor, receiving and storing the measuring data returned by the laser sensor;
the data fitting unit is used for fitting the two-dimensional measurement data stored by the data measurement unit.
Furthermore, the diameter of the cable is more than 25mm, and the light reflection rate of the surface material is more than 30%.
Further, the cable reel specification requirements are as follows:
when D is more than 0m and less than or equal to 0.92m,
when D is more than 0.92m and less than 2.9m,
d is the inner width of the cable drum, and H is the height of the cable after winding; the time t for one rotation of the cable drum is satisfied: t > T/f; wherein T is the average scanning frequency meeting the detection precision requirement, and f is the scanning frequency of the sensor.
Further, the laser sensor is an LMS400-1000 two-dimensional laser sensor, and the scanning range is a sector and is used for collecting distance and angle two-dimensional data.
Furthermore, the laser emitting surface of the laser sensor is perpendicular to the axis of the cable reel.
Further, the data measurement unit is a sensor matching control unit SOPASET, sensor parameters and filtering selection are set through the unit, the sensor parameters comprise angular resolution and scanning frequency, and the measured data are filtered and screened.
Further, the data fitting unit performs boundary fitting of the cable reel, and selects abscissa of a plurality of left and right points from the preprocessed data to calculate an arithmetic mean value as an estimated value of a boundary position; selecting scanning point data positioned in a fitting boundary, and fitting the data by a least square method of radius constraint; and determining the position relation among the cables and between the cables and the cable coil according to the fitting result to obtain the arrangement condition of the cables.
Further, the fitting result of the data fitting unit is output on a computer display screen.
Compared with the prior art, the invention has the following remarkable advantages: the invention discloses a cable winding state monitoring system, which monitors the winding of a cable by adopting an LMS400-1000 two-dimensional laser sensor, can adjust parameters such as scanning frequency, laser angle resolution and the like of the sensor through a data measuring unit to adapt to different working conditions, transmits back two-dimensional data of a scanning point, and completes the analysis of the winding state of the cable by combining a data fitting unit, thereby not only realizing the real-time monitoring of the winding state of the cable, but also improving the safety and the high efficiency of the monitoring.
Drawings
Fig. 1 is a schematic structural diagram of a cable winding state monitoring system according to the present invention.
Fig. 2(a) -2 (c) are schematic diagrams illustrating several measurable cable arrangement states according to an embodiment of the present invention, wherein fig. 2(a) is a schematic diagram illustrating cable arrangement, fig. 2(b) is a schematic diagram illustrating cable arrangement is not tight, and fig. 2(c) is a schematic diagram illustrating cable arrangement is not tight.
Fig. 3(a) -3 (b) are schematic diagrams of a fitting process of the data fitting unit according to an embodiment of the present invention, where fig. 3(a) is a schematic diagram of boundary fitting, and fig. 3(b) is a schematic diagram of cable fitting.
Fig. 4 is a schematic view of a detection range of a two-dimensional laser sensor disclosed in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the examples of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a cable winding state monitoring system, which is used for realizing real-time, safe and efficient monitoring of a cable winding state.
As shown in fig. 1, a cable winding state monitoring system includes a cable drum 1, a laser sensor 3, a data measuring unit 5, and a data fitting unit 6, wherein the data measuring unit 5 and the data fitting unit 6 are integrated in a computer 4; wherein:
the cable 2 is wound on the cable reel 1 and horizontally reciprocates between the inner walls of the two sides of the cable reel 1 along with time;
the laser emitting surface of the laser sensor 3 is opposite to the cable drum 1, the surface of the cable is irradiated to generate scanning points, and the interface end is connected with the computer 4 and transmits two-dimensional data of the scanning points to the computer;
the data measuring unit 5 outputs parameter signals to the laser sensor 3 and receives measuring signals of the laser sensor 3;
and the data fitting unit 6 calls the two-dimensional measurement data stored by the data measurement unit 5 and outputs a fitting result on a display screen of the computer 4.
Specifically, the diameter of the cable 2 is 25mm or more, and the light reflection rate of the surface material is more than 30%; the specification requirements of the cable reel 1 are as follows: when D is more than 0m and less than or equal to 0.92m,
d is more than 0.92m and less than 2.9m, H is less than or equal to
Wherein D is the inner width of the cable drum and the unit m, and H is the height of the cable after the winding is finished and the unit m. The time t for one rotation of the cable drum 1 should satisfy: t is t>And T/f. Wherein T is the average scanning frequency meeting the detection precision requirement, and the scanning frequency of the sensor is f/Hz. The laser sensor 3 is an LMS400-1000 two-dimensional laser sensor, two-dimensional distance and angle data are collected, parameters of the two-dimensional distance and angle data are adjusted according to actual conditions, and the scanning range of the sensor is shown in figure 4; the data measuring unit 5 is a control unit SOPASET matched with the laser sensor 3, parameters of the laser sensor 3 can be set on the computer 4 through the unit, and the measured data is filtered and screened; the data fitting unit 6 fits the data by a radius constraint least square method, analyzes the position relation between the cables 2 and the cable reel 1, and finally obtains the arrangement condition of the cables 2.
Before monitoring, corresponding parameters of the laser sensor 3 are adjusted according to the known cable model, and the angular resolution of the sensor is 0.1-0.25 degrees. In the winding process of the cable 2, two-dimensional arrangement information of the cable 2, namely the angle and the distance of each scanning point, is acquired through the laser sensor 3 and is output to the data measuring unit 5 on the computer 4; after the range filtering, the abnormal value filtering and the mean value filtering are carried out, the data measuring unit 5 reduces the deviation of the original data through filtering and stores the screened data in a computer; the data fitting unit 6 calls the processed data, firstly performs boundary fitting of the cable drum 1, selects horizontal coordinates of a plurality of points on the left and right from the preprocessed data to calculate an arithmetic mean value as an estimated value of a boundary position, and a schematic diagram of the boundary fitting is shown in fig. 3 (a). After the boundary of the cable drum 1 is established, screening is performed again, scanning point data located in the fitting boundary is selected, the data are fitted based on a radius constrained least square method, the fitting schematic diagram is shown in fig. 3(b), the dotted line is a fitting result, the fitting result is analyzed, position information of the cable drum 1 and the cable 2, namely the winding state of the cable, as shown in fig. 2(a), the cable is wound on the cable drum in order, the sensor is installed right above the cable drum, and at this time, the ideal situation of cable arrangement is obtained. As shown in fig. 2(c) and reference numeral 4, the cable is extruded and raised due to too small interval, and the arrangement is irregular; as also shown in fig. 2(b) at reference numeral 3, the spacing is too large so that the cables are not closely arranged. When the cables are wound at two ends of the cable reel, the distance between each layer of the cables and the inner wall of the reel is possibly more than the diameter of one cable, such as the diameter 1 of a figure 2(b), or less than the diameter of one cable, such as the diameter 2 of a figure 2 (c); the fitting accuracy of the data fitting unit 6 in this embodiment is less than 2 mm.
Claims (8)
1. A cable winding state monitoring system is characterized by comprising a cable reel, a laser sensor, a data measuring unit and a data fitting unit; wherein:
the cable is wound on the cable reel and horizontally reciprocates between the inner walls of the two sides of the cable reel along with time;
the laser emitting surface of the laser sensor is opposite to the cable drum, irradiates the surface of the cable to generate a scanning point, and transmits two-dimensional data of the scanning point to the data measuring unit;
the data measuring unit is used for outputting parameter signals to the laser sensor, receiving and storing the measuring data returned by the laser sensor;
the data fitting unit is used for fitting the two-dimensional measurement data stored by the data measurement unit.
2. The system of claim 1, wherein the cable has a diameter of 25mm or more and the surface material has a light reflectance of greater than 30%.
3. The system for monitoring the winding state of a cable according to claim 1, wherein the cable drum specification requires the following:
when D is more than 0m and less than or equal to 0.92m,
when D is more than 0.92m and less than 2.9m,
d is the inner width of the cable drum, and H is the height of the cable after winding; the time t for one rotation of the cable drum is satisfied: t > T/f; wherein T is the average scanning frequency meeting the detection precision requirement, and f is the scanning frequency of the sensor.
4. The system for monitoring the winding state of a cable according to claim 1, wherein the laser sensor is an LMS400-1000 two-dimensional laser sensor, and the scanning range is a sector for collecting two-dimensional data of distance and angle.
5. The system for monitoring the winding state of a cable according to claim 1 or 4, wherein the laser emitting surface of the laser sensor is perpendicular to the axis of the cable drum.
6. The system as claimed in claim 1, wherein the data measuring unit is a sensor-associated control unit SOPASET, by which sensor parameters including angular resolution and scanning frequency are set and filter and selected, and the data measured by the sensor parameters are filtered and filtered.
7. The system for monitoring the winding state of the cable according to claim 1, wherein the data fitting unit performs boundary fitting of the cable drum, and selects abscissa coordinates of a plurality of points on the left and right from the preprocessed data to calculate an arithmetic mean value as an estimated value of the boundary position; selecting scanning point data positioned in a fitting boundary, and fitting the data by a least square method of radius constraint; and determining the position relation among the cables and between the cables and the cable coil according to the fitting result to obtain the arrangement condition of the cables.
8. The system according to claim 7, wherein the fitting result of the data fitting unit is output on a computer display screen.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010317456.6A CN111380461A (en) | 2020-04-21 | 2020-04-21 | Cable winding state detection system |
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| CN202010317456.6A CN111380461A (en) | 2020-04-21 | 2020-04-21 | Cable winding state detection system |
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| CN109179064A (en) * | 2018-07-27 | 2019-01-11 | 南京理工大学 | Cable arrangements detection system and method on a kind of cable reel |
| CN109472261A (en) * | 2018-06-15 | 2019-03-15 | 河南工业大学 | A kind of quantity of stored grains in granary variation automatic monitoring method based on computer vision |
| CN110675441A (en) * | 2019-10-15 | 2020-01-10 | 国网河南省电力公司濮阳供电公司 | Laser point cloud-based power transmission line ground wire modeling extraction method |
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2020
- 2020-04-21 CN CN202010317456.6A patent/CN111380461A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110006943A1 (en) * | 2008-12-08 | 2011-01-13 | Intellex, Llc | Scanning array for obstacle detection and collision avoidance |
| CN104880160A (en) * | 2015-05-27 | 2015-09-02 | 西安交通大学 | Two-dimensional-laser real-time detection method of workpiece surface profile |
| CN105738909A (en) * | 2016-02-02 | 2016-07-06 | 江苏大学 | Unmanned helicopter work boundary extraction method suitable for low-altitude plant protection |
| CN106842231A (en) * | 2016-11-08 | 2017-06-13 | 长安大学 | A kind of road edge identification and tracking |
| CN106768151A (en) * | 2017-01-13 | 2017-05-31 | 湖南千盟智能仓储技术有限公司 | A kind of bulk material volume measuring system and its method |
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